From d0ddb6c84c79a38da6d3967b7b58435f5e6dcce3 Mon Sep 17 00:00:00 2001
From: Jiangtao Hu <boris.hu@gmail.com>
Date: Tue, 18 Sep 2018 10:16:56 -0700
Subject: [PATCH] routing: add routing cast tool to broadcast routing response
 from a pb file.

---
 modules/routing/tools/BUILD           | 11 ++++++
 modules/routing/tools/routing_cast.cc | 57 +++++++++++++++++++++++++++
 2 files changed, 68 insertions(+)
 create mode 100644 modules/routing/tools/routing_cast.cc

diff --git a/modules/routing/tools/BUILD b/modules/routing/tools/BUILD
index 59a2334564..98ad9c6833 100644
--- a/modules/routing/tools/BUILD
+++ b/modules/routing/tools/BUILD
@@ -25,4 +25,15 @@ cc_binary(
    ],
 )
 
+cc_binary(
+    name = "routing_cast",
+    srcs = ["routing_cast.cc"],
+    deps = [
+        "//modules/common",
+        "//modules/common/util",
+        "//modules/routing:routing_lib",
+        "//framework:cybertron",
+   ],
+)
+
 cpplint()
diff --git a/modules/routing/tools/routing_cast.cc b/modules/routing/tools/routing_cast.cc
new file mode 100644
index 0000000000..4047ae3e6b
--- /dev/null
+++ b/modules/routing/tools/routing_cast.cc
@@ -0,0 +1,57 @@
+/******************************************************************************
+ * Copyright 2018 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "cybertron/common/log.h"
+#include "cybertron/cybertron.h"
+#include "cybertron/time/rate.h"
+#include "cybertron/time/time.h"
+#include "modules/common/adapters/adapter_gflags.h"
+#include "modules/common/util/file.h"
+#include "modules/common/util/message_util.h"
+#include "modules/routing/proto/routing.pb.h"
+
+DEFINE_string(routing_dump_file,
+              "/tmp/routing.pb.txt",
+              "file name to dump routing response.");
+
+using apollo::cybertron::Rate;
+using apollo::cybertron::Time;
+
+int main(int argc, char *argv[]) {
+  google::ParseCommandLineFlags(&argc, &argv, true);
+  apollo::cybertron::Init(argv[0]);
+
+  std::shared_ptr<apollo::cybertron::Node> cast_node(
+      apollo::cybertron::CreateNode("routing_cast"));
+
+  apollo::routing::RoutingResponse routing_response;
+  if (!apollo::common::util::GetProtoFromFile(FLAGS_routing_dump_file,
+                                              &routing_response)) {
+    AERROR << "failed to load file: " << FLAGS_routing_dump_file;
+    return -1;
+  }
+
+  auto cast_writer =
+      cast_node->CreateWriter<apollo::routing::RoutingResponse>(
+          FLAGS_routing_response_topic);
+  Rate rate(1.0);
+  while (apollo::cybertron::OK()) {
+    apollo::common::util::FillHeader("routing", &routing_response);
+    cast_writer->Write(routing_response);
+    rate.Sleep();
+  }
+  return 0;
+}
-- 
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